Fixed Python Interface

i2c-hub/firmware/i2c-hub-firmware/docs/.$NetworkStack.drawio.bkp

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i2c-hub/firmware/i2c-hub-firmware/docs/NetworkStack.drawio

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         <mxCell id="weFQkCekfF49Ojb9-c9R-235" value="1" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
-          <mxGeometry x="1200.85" y="1080" width="79.66" height="20" as="geometry" />
+          <mxGeometry x="1200.48" y="1000" width="79.66" height="20" as="geometry" />
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         <mxCell id="weFQkCekfF49Ojb9-c9R-236" value="0-255" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
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+          <mxGeometry x="1360.51" y="1001" width="440" height="20" as="geometry" />
         </mxCell>
         <mxCell id="weFQkCekfF49Ojb9-c9R-237" value="TX Package" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
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@@ -811,7 +811,7 @@
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-          <mxGeometry x="491.72999999999996" y="770" width="160.72" height="20" as="geometry" />
+          <mxGeometry x="491.72999999999996" y="890" width="160.72" height="20" as="geometry" />
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         <mxCell id="weFQkCekfF49Ojb9-c9R-259" value="4" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
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@@ -871,7 +871,7 @@
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         </mxCell>
         <mxCell id="weFQkCekfF49Ojb9-c9R-322" value="size" style="rounded=0;whiteSpace=wrap;html=1;" parent="1" vertex="1">
-          <mxGeometry x="1280.6" y="1100" width="80.95" height="20" as="geometry" />
+          <mxGeometry x="1280.23" y="1020" width="80.95" height="20" as="geometry" />
         </mxCell>
         <mxCell id="weFQkCekfF49Ojb9-c9R-323" value="size" style="rounded=0;whiteSpace=wrap;html=1;" parent="1" vertex="1">
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@@ -913,10 +913,10 @@
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         </mxCell>
         <mxCell id="weFQkCekfF49Ojb9-c9R-336" value="Counted to sizes" style="rounded=0;whiteSpace=wrap;html=1;" parent="1" vertex="1">
-          <mxGeometry x="1199.9" y="1060" width="600.61" height="20" as="geometry" />
+          <mxGeometry x="1199.5300000000002" y="980" width="600.61" height="20" as="geometry" />
         </mxCell>
         <mxCell id="weFQkCekfF49Ojb9-c9R-337" value="1" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
-          <mxGeometry x="1280.1699999999998" y="1081" width="79.66" height="20" as="geometry" />
+          <mxGeometry x="1279.8" y="1001" width="79.66" height="20" as="geometry" />
         </mxCell>
         <mxCell id="weFQkCekfF49Ojb9-c9R-345" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=1;entryY=0.5;entryDx=0;entryDy=0;" parent="1" source="weFQkCekfF49Ojb9-c9R-338" target="weFQkCekfF49Ojb9-c9R-344" edge="1">
           <mxGeometry relative="1" as="geometry" />
@@ -1599,6 +1599,60 @@
             <mxPoint x="3988.8199999999997" y="1700.5" as="targetPoint" />
           </mxGeometry>
         </mxCell>
+        <mxCell id="JG_RBEpKgD0n8DC-nJ9m-1" value="" style="sketch=0;html=1;aspect=fixed;strokeColor=none;shadow=0;align=center;fillColor=#2D9C5E;verticalAlign=top;labelPosition=center;verticalLabelPosition=bottom;shape=mxgraph.gcp2.check" parent="1" vertex="1">
+          <mxGeometry x="1920" y="528" width="40" height="32" as="geometry" />
+        </mxCell>
+        <mxCell id="JG_RBEpKgD0n8DC-nJ9m-2" value="" style="sketch=0;html=1;aspect=fixed;strokeColor=none;shadow=0;align=center;fillColor=#2D9C5E;verticalAlign=top;labelPosition=center;verticalLabelPosition=bottom;shape=mxgraph.gcp2.check" parent="1" vertex="1">
+          <mxGeometry x="1893.71" y="720" width="40" height="32" as="geometry" />
+        </mxCell>
+        <mxCell id="xHqxyqidxHPQPkM2u2fy-1" value="Reset" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
+          <mxGeometry x="1119.53" y="1119" width="80" height="21" as="geometry" />
+        </mxCell>
+        <mxCell id="xHqxyqidxHPQPkM2u2fy-2" value="0xcc" style="rounded=0;whiteSpace=wrap;html=1;" parent="1" vertex="1">
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+        </mxCell>
+        <mxCell id="xHqxyqidxHPQPkM2u2fy-3" value="size" style="rounded=0;whiteSpace=wrap;html=1;" parent="1" vertex="1">
+          <mxGeometry x="1279.56" y="1119.5" width="80.95" height="20" as="geometry" />
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+        <mxCell id="xHqxyqidxHPQPkM2u2fy-7" value="0xc" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
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+        </mxCell>
+        <mxCell id="xHqxyqidxHPQPkM2u2fy-8" value="Reset" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
+          <mxGeometry x="241.95" y="600" width="81" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="xHqxyqidxHPQPkM2u2fy-9" value="Info Reset" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
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+        <mxCell id="xHqxyqidxHPQPkM2u2fy-10" value="0xcd" style="rounded=0;whiteSpace=wrap;html=1;" parent="1" vertex="1">
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+        <mxCell id="xHqxyqidxHPQPkM2u2fy-14" value="RESPONSE" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" parent="1" vertex="1">
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+        </mxCell>
+        <mxCell id="xHqxyqidxHPQPkM2u2fy-15" value="0xc" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
+          <mxGeometry x="200.8" y="640" width="40" height="40" as="geometry" />
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+        <mxCell id="xHqxyqidxHPQPkM2u2fy-16" value="Reset" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
+          <mxGeometry x="241.95" y="640" width="81" height="40" as="geometry" />
+        </mxCell>
       </root>
     </mxGraphModel>
   </diagram>

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/base.cpp

@@ -1,6 +1,11 @@
 #include "ci/base.hpp"
 #include "pinConfig.hpp"
 
+#include "protocol.hpp"
+
+#include "pico/stdlib.h"
+#include "hardware/watchdog.h"
+
 #include "FreeRTOSConfig.h"
 #include "FreeRTOS.h"
 #include "task.h"
@@ -32,6 +37,10 @@ void GobotRPC_CI::onRxData(char *data, size_t len) {
                 this->cb_TxPacket(this->cb_TxPacket_args, data+6, len-6, addr);
             }
             break;
+        case RESET_CI_PACKET:
+            // Register Reset Magic
+            softwareReset();
+            break;
         default:
             break;
     }

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/ci_instruction.cpp

@@ -23,11 +23,19 @@ void GobotRPC_CI::txCIInstructionTask() {
                 send_ErrorTransmission(rx, addr);
                 break;
             }
+
             case CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS: {
-                uint32_t addr = ciInstruction.data[1] | (ciInstruction.data[2] << 8) | (ciInstruction.data[3] << 16) | (ciInstruction.data[4] << 24);
+                uint32_t addr = ciInstruction.data[0] \
+                    | (ciInstruction.data[1] << 8) \
+                    | (ciInstruction.data[2] << 16) \
+                    | (ciInstruction.data[3] << 24);
                 send_SuccessTransmission(addr);
                 break;
             }
+
+            case CI_INSTRUCTION_SEND_INFO_RESET:
+                send_InfoReset();
+                break;
         }
     }
 }
@@ -58,3 +66,12 @@ void GobotRPC_CI::send_SuccessTransmission(uint64_t addr) {
 
     this->hardware->send(successPacket, 6);
 }
+
+void GobotRPC_CI::send_InfoReset() {
+    char resetPacket[2];
+
+    resetPacket[0] = RESET_INFO_CI_PACKET;
+    resetPacket[1] = 2;
+
+    this->hardware->send(resetPacket, 2);
+}

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ci/base.hpp

@@ -5,11 +5,13 @@
 enum GobotRPC_CI_CMD {
     TX_CI_PACKET = 0x01,
     RX_CI_PACKET = 0x02,
-    PERFORM_SCAN_CI_PACKET = 0x03,
+
-    SCAN_RESULT_CI_PACKET = 0x04,
     SUCESS_TRANMISSION = 0xfc,
     ERROR_TRANMISSION = 0xfd,
-    HEARTBEAT = 0xff
+    HEARTBEAT = 0xff,
+
+    RESET_CI_PACKET = 0xcc,
+    RESET_INFO_CI_PACKET = 0xcd
 };
 
 #define CI_TX_PACKAGE_DATA_OFFSET 6
@@ -48,4 +50,5 @@ public:
     void txCIInstructionTask();
     void send_ErrorTransmission(bool rx, uint64_t addr);
     void send_SuccessTransmission(uint64_t addr);
+    void send_InfoReset();
 };

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ci/instructions.hpp

@@ -1,6 +1,7 @@
 enum CI_Instruction_Type {
     CI_INSTRUCTION_SEND_TRANMISSION_ERROR,
-    CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS
+    CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS,
+    CI_INSTRUCTION_SEND_INFO_RESET
 };
 
 struct CI_Instruction_Transport {

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ti/transmission_interface.hpp

@@ -30,6 +30,10 @@ public:
     virtual void registerPushPackageCB(callback_pushPackage cb, void *args) = 0;
     virtual void registerPushCIInstructionCB(callback_pushCIInstruction cb, void *args) = 0;
     virtual void setAddrMap(uint32_t addr, int intNum) = 0;
+
+    void raiseTranmissionError(bool rx, uint32_t addr);
+    void raiseTransmissionSuceess(uint32_t addr);
+    void raiseInfoReset();
 };
 
 void i2cRxTaskFn(void * args);
@@ -78,6 +82,7 @@ public:
 
     void raiseTranmissionError(bool rx, uint32_t addr);
     void raiseTransmissionSuceess(uint32_t addr);
+    void raiseInfoReset();
 };
 
 

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/util/protocol.hpp

@@ -3,7 +3,8 @@
 #include <strings.h>
 
 enum GobotRPCNumber {
-    VACUM = 0x8
+    VACUM = 0x8,
+    RESET = 0xc
 };
 
 enum GobotRPCTypes {
@@ -31,3 +32,5 @@ void assembleCRC(char * buffer, size_t data_len);
 bool checkCRC(char * buffer, size_t data_len);
 
 GobotRPCHeaderInfo extractGobotRPCHeader(char * buffer);
+
+void softwareReset();

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/node_interface/init.cpp

@@ -59,6 +59,7 @@ void GobotRPC_NI::rxTask() {
 
 void GobotRPC_NI::sendPackage(char *data, size_t len, GobotRPCTypes type, GobotRPCNumber number) {
     GobotRPC_NI_Package_Transport package;
+    package.length = len + GobotRPC_Package_DATA_OFFSET + 2;
     memcpy(package.data + GobotRPC_Package_DATA_OFFSET, data, len);
     assembleGobotRPCHeader(package.data, number, type, len);
     assembleCRC(package.data, len);

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/node_interface/rp2040/i2c/init.cpp

@@ -71,6 +71,9 @@ GobotRPC_NI_Hardware_RP2040_I2C::GobotRPC_NI_Hardware_RP2040_I2C(
 
     this->core = core;
 
+    this->readState = I2C_READ_STAGE_FIRST;
+    this->writeState = I2C_WRITE_STATE_FIRST;
+
     this->isrRXQueue = RXQueue;
     this->isrPreTxQueue = TXQueue;
     this->isrTXQueue = xQueueCreate(3, sizeof(GobotRPC_NI_Package_Transport));

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/node_interface/rp2040/i2c/rx_tx.cpp

@@ -40,7 +40,8 @@ void GobotRPC_NI_Hardware_RP2040_I2C::onI2CIRQ(I2C_SLAVE_EVENT event, BaseType_t
         break;
     }
 
-    case I2C_SLAVE_REQUEST: { // I2C Read from Master
+    case I2C_SLAVE_REQUEST: { 
+        // I2C Read from Master
         //if(xQueueIsQueueEmptyFromISR(isrTXQueue) == pdTRUE) {
         //    readState = I2C_READ_STAGE_INVALID;
         //}
@@ -58,15 +59,13 @@ void GobotRPC_NI_Hardware_RP2040_I2C::onI2CIRQ(I2C_SLAVE_EVENT event, BaseType_t
             break;
 
         case I2C_READ_STAGE_WIP:
-            if(txPackage.index == txPackage.length - 1) {
-                readState = I2C_READ_STAGE_DONE;
-            } else {
             i2c_write_byte_raw(i2c_inst, txPackage.data[txPackage.index++]);
-            }
-            break;
             
-        case I2C_READ_STAGE_DONE:
+            if(txPackage.index == txPackage.length) {
-            i2c_write_byte_raw(i2c_inst, 0x00);
+                readState = I2C_READ_STAGE_FIRST;
+                gpio_put(int_PIN, 0);
+            }
+
             break;
 
         default:
@@ -78,8 +77,9 @@ void GobotRPC_NI_Hardware_RP2040_I2C::onI2CIRQ(I2C_SLAVE_EVENT event, BaseType_t
 
     case I2C_SLAVE_FINISH:
         writeState = I2C_WRITE_STATE_FIRST;
-        readState = I2C_READ_STAGE_FIRST;
+        
         rxPackage.index = 0;
+        txPackage.index = 0;
         break;
 
     default:

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/protocol_base.cpp

@@ -2,6 +2,7 @@
 #include <stdint.h>
 
 #include "pico/stdlib.h"
+#include "hardware/watchdog.h"
 
 #include "crc16.hpp"
 
@@ -29,3 +30,8 @@ bool checkCRC(char * buffer, size_t data_len) {
     unsigned short crc_received = buffer[data_len - GobotRPC_Package_DATA_OFFSET + 1] | (buffer[data_len - GobotRPC_Package_DATA_OFFSET + 0] << 8);
     return crc == crc_received;
 }
+
+void softwareReset() {
+    watchdog_enable(1, 1);
+    while(1);
+}

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_ci_instructions.cpp

@@ -25,3 +25,10 @@ void GobotRPC_TI_Hardware_RP2040_I2C::raiseTransmissionSuceess(uint32_t addr) {
     
     this->pushCIInstructionCB(&ciInstruction, pushCIInstructionCBArgs);
 }
+
+void GobotRPC_TI_Hardware_RP2040_I2C::raiseInfoReset() {
+    CI_Instruction_Transport ciInstruction;
+    ciInstruction.type = CI_INSTRUCTION_SEND_INFO_RESET;
+    
+    this->pushCIInstructionCB(&ciInstruction, pushCIInstructionCBArgs);
+}

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_rx.cpp

@@ -1,4 +1,5 @@
 #include "transmission_interface.hpp"
+#include "ci/base.hpp"
 
 void i2cRxTaskFn(void * args) {
     GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)args;
@@ -25,10 +26,10 @@ void GobotRPC_TI_Hardware_RP2040_I2C::i2cRxTask() {
                     bool read_res = readI2C(&pkg, addr);
                     xSemaphoreGive(i2cMutex);
 
-                    if(read_res) {
+                    //if(read_res) {
                     if(pushPackageCB != NULL)
                         pushPackageCB(&pkg, pushPackageCBArgs);
-                    }
+                    //}
             
                     break;
                 }
@@ -41,21 +42,16 @@ void GobotRPC_TI_Hardware_RP2040_I2C::i2cRxTask() {
 }
 
 bool GobotRPC_TI_Hardware_RP2040_I2C::readI2C(GoRPCPackage_Transport * pkg, uint32_t addr) {
+    unsigned int res;
+    //uint res = i2c_read_blocking(i2c, addr, (uint8_t *)pkg->data, 2, true);
 
-    uint res = i2c_read_burst_blocking(i2c, addr, (uint8_t *)pkg->data, 2);
+    i2c_read_blocking(i2c, addr, (uint8_t *)pkg->data + CI_RX_PACKAGE_DATA_OFFSET, 2, true);
 
-    if(res == PICO_ERROR_GENERIC)
-        return false; // I2C error
 
-    size_t len = pkg->data[1];
+    size_t len = pkg->data[CI_RX_PACKAGE_DATA_OFFSET + 1];
-
-    size_t remaining = len >= 2 ? len - 2 : 0;
-
-    res = i2c_read_burst_blocking(i2c, addr, ((uint8_t *)pkg->data) + 2, len - 2);
-
-    if(res == PICO_ERROR_GENERIC)
-        return false; // I2C error
 
+    res = i2c_read_blocking(i2c, addr, ((uint8_t *)pkg->data) + CI_RX_PACKAGE_DATA_OFFSET, len, false);
+    pkg->len = len;
     pkg->addr = addr;
 
     return true;

i2c-hub/firmware/i2c-hub-firmware/src/main_core0.cpp

@@ -41,6 +41,17 @@ void onTxPacket(void * args, char *data, size_t len, uint32_t addr) {
     //gobotRPC_ci->send_RxPacket(pkg.data, CALC_SIZE_GobotRPC_PACKAGE(0), addr);
 }
 
+void onRXFromI2CTask(void * pvParameters) {
+    GobotRPC_CI * gobotRPC_ci = (GobotRPC_CI *)pvParameters;
+
+    GoRPCPackage_Transport pkg;
+    while (true) {
+        xQueueReceive(appData.rxQueue, &pkg, portMAX_DELAY);
+
+        gobotRPC_ci->send_RxPacket(pkg.data, pkg.len, pkg.addr);
+    }
+}
+
 int main() {
     gpio_init(LED_PIN);
     gpio_set_dir(LED_PIN, true);
@@ -57,8 +68,10 @@ int main() {
 
     TaskHandle_t taskHandleCore0;
     TaskHandle_t taskHandleCore1;
+    TaskHandle_t taskRXFromI2CTask;
     xTaskCreateAffinitySet(vTaskMain, "Main Task Core 0", 2048, &gobotRPC_ci, 1, UART_CORE_MASK, &taskHandleCore0);
     xTaskCreateAffinitySet(main_core2, "Main Task Core 1", 2048, &gobotRPC_ci, 1, UART_CORE_MASK, &taskHandleCore1);
+    xTaskCreateAffinitySet(onRXFromI2CTask, "RX From I2C Task", 2048, &gobotRPC_ci, 3, UART_CORE_MASK, &taskRXFromI2CTask);
 
     vTaskStartScheduler();
 

i2c-hub/firmware/i2c-hub-firmware/src/main_core1.cpp

@@ -28,12 +28,14 @@ void pushCIInstruction(CI_Instruction_Transport * src, void *args) {
 void main_core2(void * pvParameters) {
     AppData appData = *((AppData *)pvParameters);
     GobotRPC_TI_Hardware_RP2040_I2C gobotrpc_ti_hardware(UART_CORE_MASK, i2c0);
-    gobotrpc_ti_hardware.setAddrMap(0x21, 2);
+    gobotrpc_ti_hardware.setAddrMap(0x21, 0);
 
     gobotrpc_ti_hardware.registerPullPackageCB(pullPackageCB, appData.txQueue);
     gobotrpc_ti_hardware.registerPushPackageCB(pushPackage, appData.rxQueue);
     gobotrpc_ti_hardware.registerPushCIInstructionCB(pushCIInstruction, appData.ciInstructionQueue);
 
+    gobotrpc_ti_hardware.raiseInfoReset();
+
     while(1) {
         vTaskDelay(pdMS_TO_TICKS(10000));
     }

vacum-control/vacum-control-firmware/src/main.cpp

@@ -37,6 +37,11 @@ void onRxPackage(void * args, char *data, uint16_t len, GobotRPCTypes type, Gobo
             break;
         }
 
+        case GobotRPCNumber::RESET: {
+            softwareReset();
+            break;
+        }
+        
         default: {
             break;
         }
@@ -89,6 +94,9 @@ int main() {
         core1_main, "Core 1 Main", 2048, &g_appData, 1, CORE_MASK_VACUM, &xCore1TaskHandle
     );
 
+    char txBuffer[32];
+    g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::RESET);
+
     vTaskStartScheduler();
 
     while (true) {